The accompanying source code is at: https://github.com/colgreen/cartpole-physics https://github.com/colgreen/cartpole-physics Note that the equations being us

The accompanying source code is at: https://github.com/colgreen/cartpole-physics https://github.com/colgreen/cartpole-physics Note that the equations being used in the 'wild' are generally wrong in some way; see the article appendices for detailed info.